Top Tent Camping near Lake Mills, WI

Looking for an adventure where you can explore Lake Mills and then fall asleep in your tent? Find the best information on tent campgrounds near Lake Mills, including sites, reviews, and tips. Each tent site offers quick access to one or more of Lake Mills, Wisconsin's most popular destinations.

Best Tent Sites Near Lake Mills, WI (10)

    Camper-submitted photo from Snug Harbor Inn Campground on Turtle Lake
    Camper-submitted photo from Snug Harbor Inn Campground on Turtle Lake
    Camper-submitted photo from Snug Harbor Inn Campground on Turtle Lake
    Camper-submitted photo from Snug Harbor Inn Campground on Turtle Lake
    Camper-submitted photo from Snug Harbor Inn Campground on Turtle Lake
    Camper-submitted photo from Snug Harbor Inn Campground on Turtle Lake
    Camper-submitted photo from Sandhill Station State Campground
    Camper-submitted photo from Sandhill Station State Campground
    Camper-submitted photo from Sandhill Station State Campground
    Camper-submitted photo from Sandhill Station State Campground
    Camper-submitted photo from Sandhill Station State Campground
    Camper-submitted photo from Sandhill Station State Campground
    Camper-submitted photo from New Glarus Woods State Park
    Camper-submitted photo from New Glarus Woods State Park
    Camper-submitted photo from New Glarus Woods State Park
    Camper-submitted photo from New Glarus Woods State Park
    Camper-submitted photo from New Glarus Woods State Park
    Camper-submitted photo from New Glarus Woods State Park

    3. New Glarus Woods State Park

    16 Reviews
    31 Photos
    48 Saves
    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • ADA Access

    $15 - $25 / night

    • No image available

      4. KMSF Shelter 1 Backpack Site

      1 Review

      Designated backpack campsites are available by reservation at the following properties. These campsites may be several hundred yards to a few miles away from the nearest parking area and campers need to carry all gear in and out. Campsites typically feature a fire ring, seating, and a primitive privy or wilderness latrine, which may be shared with other campsites. There are also a limited number of opportunities for very primitive, remote camping on DNR lands.

      • Pets
      • Fires
      • Phone Service
      • Tents
      • Dispersed
      • Tent Cabin
      • No image available

        5. Wild Goose City Park

        1 Review
        1 Save
        • Pets
        • Phone Service
        • Reservable
        • ADA Access
        • Tents
        • Trash
        • No image available

          6. Cappie's Landing

          Be the first to review!
          2 Saves
          • Pets
          • Fires
          • Reservable
          • Tents
          • Toilets

          $20 / night

          Camper-submitted photo from Devils Lake State Park Group Campground — Devils Lake State Park
          Camper-submitted photo from Devils Lake State Park Group Campground — Devils Lake State Park
          Camper-submitted photo from Devils Lake State Park Group Campground — Devils Lake State Park
          Camper-submitted photo from Devils Lake State Park Group Campground — Devils Lake State Park
          Camper-submitted photo from Devils Lake State Park Group Campground — Devils Lake State Park
          Camper-submitted photo from Devils Lake State Park Group Campground — Devils Lake State Park

          7. Devils Lake State Park Group Campground — Devils Lake State Park

          5 Reviews
          29 Photos
          20 Saves

          If you’re traveling with a larger group, family, or organization, Devil’s Lake State Park has you covered with their Group Campsites located on the South Shore. There are 8 sites available that can accommodate 20 to 60 campers, depending on the site.

          The park’s group camp facilities feature modern showers and restrooms, and the location is conveniently located about a 15-minute walk via the Group Camp Trail to the South Shore day-use area and beach. Climbing groups will also appreciate the location, which is situated at the head of the CCC trail.

          • Pets
          • Fires
          • Reservable
          • Tents
          • Group
          • Picnic Table
          Camper-submitted photo from Purplehaze Acres
          Camper-submitted photo from Purplehaze Acres

          8. Purplehaze Acres

          Be the first to review!
          2 Photos
          7 Saves

          Purplehaze Acres is a 60-acre organic rustic farm in Rubicon, WI and resides at the beginning of the approx. 650-mile Niagara Escarpment--known locally as "The Ledge". We are in close proximity to the Ice Age Trail, and the natural treasures of the great Horicon Marsh, Lake Sinnissipi/Rock River with canoeing/kayaking/fishing, Ledges County Park, and the world-renowned Holy Hill Shrine.

          Nearby Hustisford ("Husti") offers unique shopping and dining experiences, such as the Mercantile and Mocha Vino. Need a few organic groceries? Make sure to visit Back To The Best Organic grocer only 3 miles away, featuring food raised on local organic farms including Purplehaze Acres.

          Potable water, charcoal grills, firepit grates, eggs and available for purchase--firewood. COMING SOON: Did you forget something? If so, check out our Camp Cupboard Store. FYI: In addition to our private individual sites, our PEACE CAMP site is a group site perfect for the rustic camp wedding, small festivals, EAA, Harley celebrations and other fun casual events. Check out the Peace Camp listing for details.

          Your approach via 1/2-mile dirt drive up the hills and through the woods . . . to not your grandmother's typical house you go. You'll find wonderful vistas, wildflowers, berries, trails up into the woods, a 900' grass runway for aviators on an overall great "peace" of earth. ☮

          • Pets
          • Fires
          • Phone Service
          • Reservable
          • Tents
          • Picnic Table

          $40 - $160 / night

          • No image available

            9. Scheidegger Forest (Dane County Parks)

            Be the first to review!
            3 Saves

            Scheidegger Forest is nearly 80 acres and offers a mile of loop of hiking trails, a reservable shelter, and restroom. The area has been restored from a former Dane County Sheriff shooting range to a managed forest of primarily oak and hickory. The shelter, kiosk, and bathroom were all built from wood harvested on-site. Water is not available at this site When this Group Camp is reserved, the Shelter is not available to be reserved by another party(and vice versa). Located~ 100 feet east of loop parking lot, just beyond the restroom No potable water at this time. Vault(pit) toilet. Campfire ring. No electricity. 20’ x 30’ shelter– picnic tables. Vehicle parking in parking lot * Reserve a campsite online here: https://web2.myvscloud.com/wbwsc/widanectywt.wsc/splash.html * Check opening and closing dates here: https://www.danecountyparks.com/about/Parks-Opening-Closing-Schedule * See campground rules here: https://www.danecountyparks.com/about/rules

            • Pets
            • Fires
            • Reservable
            • Tents
            • Group
            • Standard (Tent/RV)

            $65 / night

            Camper-submitted photo from Little Turtle Lake
            Camper-submitted photo from Little Turtle Lake

            10. Little Turtle Lake

            Be the first to review!
            2 Photos

            Primitive camping on private pond well maintained lawns. Clothing optional.

            • Pets
            • Fires
            • Phone Service
            • Reservable
            • Tents
            • Group

            $50 - $80 / night


          Recent Tent Reviews In Lake Mills

          630 Reviews of 10 Lake Mills Campgrounds


          • Linda N.
            Camper-submitted photo from Milton-Madison SE KOA
            Oct. 16, 2024

            Milton-Madison SE KOA

            cant wait to go back

            I ended up here because I was going to a music festival in the area, and they turned me away because I have a service animal. I wasn't going to do all that work for nothing and just go home, so I decided to look up my nearest campground and it was KOA in Milton. they made me feel welcome. they understood my dilemma. it was a wonderful weekend. lots of amenities and I just absolutely can't wait to go back next year. I'm going to try to make it a couple times. so much fun, just me and my dog. And one last the thing, my fellow campers were more than hospitable and very nice and I appreciate that very much.

          • Linda N.
            Camper-submitted photo from Sweet Minnihaha Campground
            Oct. 16, 2024

            Sweet Minnihaha Campground

            music fest

            I originally went to this campground a couple years ago for a music festival, but I discovered how much fun it was. the people were incredible. the staff was really awesome so I continue to make it back at least once a year

          • A
            Camper-submitted photo from Big Foot Beach State Park
            Oct. 11, 2024

            Big Foot Beach State Park

            A bit deceptive

            So this place is much less dog friendly than is advertised. Dogs aren’t allowed in large swaths of the park nor on the (tiny tiny, bordered by loud highway) beach. Lake Geneva is very pretty, but the area is obviously very wealthy and obviously geared toward retirees without dogs or with tiny dogs they leave at the RV (to bark, constantly, at their next site neighbors. Until the owners get back.)

          • Jaime P.The Dyrt PRO User
            Camper-submitted photo from Badgerland Campground
            Sep. 9, 2024

            Badgerland Campground

            Great little campground

            We booked a weekend here for a soccer tournament we had in Verona, so we didn’t spend a lot of time on the property. The staff was amazing! Very friendly and helpful for us new to camping people. We booked online and they were also friendly when I messed up my reservation so thanks for that too. We booked in VIP 1, which is right next to the bath house. We wanted to be close to the showers (coin op). We figured since we’re at a sporting event that might be nice. Very quiet at night. We did have a little time to go fishing at the fishing pond. We didn’t catch anything but we had fun. The fishing pond is a ways from our camping area though. It would have been a long walk so we drove. WiFi is for a fee but it was fine. The fee wasn’t expensive (less than $5). No sewer hook up but there is a dump site so no big deal. Overall good stay.

          • Monica F.
            Camper-submitted photo from Bear Lake Campground and Resort
            Aug. 30, 2024

            Bear Lake Campground and Resort

            Love this campground!

            Great campground!  Shaded or Sunny sites. Level sites. Friendly staff. Sandy Beach. Swimming. Playground. Kids Activities. Themed weekends. Bar. Restaurant. Great Food! Tiki Bar on Beach. Great Fishing. Laundry.

          • Jenna R.
            Camper-submitted photo from Blue Mound State Park Campground
            Aug. 11, 2024

            Blue Mound State Park Campground

            Great for families

            Lots of playgrounds for kids age 2-10. Pit toilets smell- I’d avoid sites around them. Hot Showers by lot 30 and at pool. Pool is not heated as stated- definitely not 80 degrees. West tower is the best for sunsets. Site 75 was nice as it was a bit back from the road and you can’t see your neighbors.

          • Renee R.
            Camper-submitted photo from Brigham Park
            Jul. 29, 2024

            Brigham Park

            Nice spot for summer camping.

            I've visited this campground twice and it's been a hit both times.

            Pros:

            - Scenic overlook is gorgeous.

            - The dense tree cover and near-constant slight breeze help to both keep this campground cool and the mosquitos at bay.

            - Well-kept vault toilets.

            - Close to a many points of interest.

            Cons:

            - Some of the sites are strangely graded and situated.  One site near ours had the fire pit at the very edge, making sitting around it virtually impossible.  14 was a pretty site but had a large tree in the middle of it.

            - Using the County website to reserve the site was clunky and time consuming.

          • Erin Z.
            Camper-submitted photo from KMSF Shelter 1 Backpack Site
            Jul. 22, 2024

            KMSF Shelter 1 Backpack Site

            Remote backpacking Shelter 1

            Great backpack camp site. Decent walk and terrain to get to the site. There is an open shelter to put your tent if you prefer to outside. There is a fire pit, but we found our own wood around the site. (Bring a small axe). There is an outhouse, but I wouldn’t recommend using it. There is a picnic table and a bench. It’s very secluded for privacy :) we will definitely be back.

          • Erin Z.
            Camper-submitted photo from Ottawa Lake Campground
            Jul. 21, 2024

            Ottawa Lake Campground

            Great Family Campground!

            Site was spacious but very close to your neighbors. Lots to do in the area. Bathrooms and showers were clean. The beach was not clean and very hard to walk on, very rocky. Electricity on site and water near by. Great trails close by.

          • Christie B.
            Camper-submitted photo from Green County Fairgrounds
            Jul. 10, 2024

            Green County Fairgrounds

            Ok but you have to work around the events going on because you have to leave when they are going on!

            Nice quiet place no neighbors usually bothering you showers and toilets could be better but overall ok

          • JThe Dyrt PRO User
            Camper-submitted photo from Madison Campground
            Jul. 2, 2024

            Madison Campground

            Cute campground - near Madison

            We were in Site# B1. We had Full hook- up with a gravel pull-thru. We travel towing a 14 foot trailer and were able to fit both in our pull through site. My jeep though did not fit. The site was easy to level.

            Our site was shaded with lots of trees. This was a larger sized lot with our neighbors not too close (but we did choose a premium site with a patio and paid extra to be on the end).

            This specific lot comes with a concrete patio The lot comes with a picnic table and fire hole in the ground.

            They have a community Outdoor kitchen-y area with picnic tables.
            They do not provide garbage service at your site so you must walk to garbage dumpster.

            You are allowed to ride personal golf carts. There is really not a need to have a Golf cart because it is a smaller campground.

            They do have a Swimming pool.
            There is a Playground. They also offer horseshoes and a volleyball court.

            They have a great general store.

            The streets are gravel so not great for riding bikes but there are great places to ride bikes outside of campground, especially around Middleton and Madison.

            They have cabins for rent and tent areas.

            They have one shower house. The shower house has the typical stalls. These are kept mostly clean.

            There is a laundry facility. It is a cash only facility, but they have a change machine.

            They have a fenced in dog park and many grassy areas to walk dogs.

            There were no trails to hike in the campground.

            Some fun things to do outside of the campground are the Saturday Farmer’s Market in Madison and multitude of bike trails.

          • tThe Dyrt PRO User
            Camper-submitted photo from Madison Campground
            Jun. 23, 2024

            Madison Campground

            Basic

            While the location is great for fast travels into Madison, or getting to great hiking areas. My only complaint is that not every pull through is provided with a fire ring to burn wood (they almost seem random) and that the check in building is a bit bare. Otherwise, great location, great (partial) amenities, and good customer service.

          • Kim J.
            Camper-submitted photo from Waupun Park Campground
            Jun. 21, 2024

            Waupun Park Campground

            Nice campgrounds

            We stayed there for a while very pretty and the people very friendly bring wood to your camp they have trails you can walk and county pool and golf course sites are good size we will return it's close to town as well

          • Kim J.
            Camper-submitted photo from Grand Valley Campground
            Jun. 21, 2024

            Grand Valley Campground

            Great campgrounds

            We stayed there in July alot of activities for everyone pool was so nice bathrooms very clean everyone so nice Amish came sat morning selling there goodies we will return definitely

          • T
            Camper-submitted photo from Ledge County Park
            Jun. 9, 2024

            Ledge County Park

            Great Park!!

            It was our first time visiting Ledge Park & we would absolutely go back! The sites are natural feeling and the park is very, very clean (including the bathrooms)… the views from “The Ledge” are hard to beat.

          • Addison G.
            Camper-submitted photo from Pinewoods Campground
            May. 30, 2024

            Pinewoods Campground

            Great access to Scuppernong Hikes

            Stayed in campsite directly connected to Green Trail of the Scuppernong Trailhead. Campsite was clean and quite private for being near people.

          • Addison G.
            Camper-submitted photo from Ottawa Lake Campground
            May. 29, 2024

            Ottawa Lake Campground

            Great spot for hiking Kettle Moraine

            Campsites are kept up and quite clean. Some have a beautiful view of lake. Some water fountains did not work, however sinks were always working. So many little trails all throughout the campsite. Family friendly (parks, beach, pet friendly)

          • H
            Camper-submitted photo from The Playful Goose Campground
            May. 26, 2024

            The Playful Goose Campground

            Insert Terrible Adjective

            The Good: Campsites along the river looked really nice. The Bad: We had a 3 day holiday weekend booked for tent camping.Unfortunately the weather did not hold up and our site was completely soaking wet- we could not even steak out our tent. The owner of the campground denied a refund due to policy. The amount of rules and regulations this camp ground has is absolutely absurd. The Ugly: When checking into our site, the woman working the desk was efficient but things took a bad turn really quick. 1. If you book on the Playful Goose website you will get charged a% service fee, which The Playful Goose Staff does not stand behind. 2. If you book on the Playful Goose website you must specify how many nights, adults and tents per site. Without too many logistics, we ended up paying over$220 for a weekend JUST TO CAMP IN HORICON. While trying to set up camp in the rain, a male(we were told he was the assistant manager) in a golf cart drove near our site yelling vulgar language, accusing our group of doing things to the grass(when the grass was a swamp to begin with due to weather) and lastly, as the man was driving away he continued to make harassing comments. The lack of professionalism, courtesy and respect from staff was unacceptable as a paying guest. Playful Goose Takeaway: I will never spend my hard earned money here. Again. And be sure to tell everyone I know to not spend their hard earned money here either. There are so many other beautiful camp grounds within a 100 mile radius and this one will be my last choice. Such a shame this wonderful campground I used to visit has gone down hill.

          • BThe Dyrt PRO User
            Camper-submitted photo from Madison Campground
            May. 24, 2024

            Madison Campground

            Okay if other campgrounds are full or for just 1 night

            Easy to get to from I-90 but also a bit too close so there is road noise. The price may be a little high at $66.00 per night but the sites are all drive through and can handle large rigs. Not bad for a quick one-night stay. Many available sites even on memorial weekend 2024

          • Mehran S.
            Camper-submitted photo from Ottawa Lake Campground
            May. 5, 2024

            Ottawa Lake Campground

            Decent Family Campground (5/3/2024)

            It’s a family friendly and decent campground. Sites are not too secluded, but they’re clean and well taken care of, the facilities weren’t clean, they have volunteer hosts on site for any needs, the lake is beautiful during the sunset, sandy area and playground for kids, car noise is noticeable but not too loud (in the inner camp sites). Few trails around for hiking. They charge an extra $11 for each car’s entry at the gate but you can use the car pass for visiting all the state park’s trails around the area (you need permit for parking at the trailheads). It’s good for family with kids or beginner campers, but not if you’re looking for a relaxing or adventurous time.

          • J H.
            Camper-submitted photo from Crazy Horse Campground
            Apr. 18, 2024

            Crazy Horse Campground

            Used to be a great place to camp

            Unfortunately, I can no longer say this is a great, affordable place to stay. The weekly rates increased by over $75 a week for the full hookup sites this season.  

            There was also a link to last years pricing still active until 4/16 that has since been deactivated when I asked to have my pricing adjusted to that amount. Seems deceptive to me, having 2 different prices in 2 different places on their site.  They will not honor the price and told me if I don't like it I can find somewhere else to camp. 

            Also, they no longer offer kayaks, which was the big draw to the campground. 

            We may keep our reservation this year, but likely won't be back next season.

          • J
            Camper-submitted photo from Rome Riverside Campground
            Dec. 1, 2023

            Rome Riverside Campground

            Owned by a scammer

            The owner of this campground is an absolute scammer. I paid for 2 months of full service camping (Sewer, water, electric) 3 weeks prior to my arrival. Aware that I wasn't going to arrive until another 3 weeks, the owner said that my 2 months started from when I paid. The day before I drove down the owner said I needed to go to a temporary spot until a full service site was ready. So he charged me for the site even though one wasn't even available.. I sat over a week at a spot with no sewer even though I paid for it. I was staying at this campground for work, so after working 12 hour days I would have to hook my camper up to the truck, bring it to dump, and re-set it up and level it back into place. The icing on the cake was when he told me my time was up even though I had only been there 5 weeks out of the 2 months I paid for(4 weeks of an actual full service site). When I would call Tom Jurasinski the owner, he would screen my phone call everytime and text me back "I'm in a meeting buddy". He assured me he would call me back. He must be in meetings 24/7 as he never called me back once after I repeatedly tried to call him. The only reason I was able to stay the extra week (making it 6 weeks) to finish the work at my jobsite, was to threaten him with my lawyer (Via text of course because he wouldn't answer the phone). When you arrive onsite he takes a deposit of $300. Don't expect to get that back. I've tried contacting him about it many times but I haven't received it. Tom Jurasinski is a thief. For anyone that camps there, I recommend before you leave to dump your black tank right in the site you left from, that way he can at least earn the $300 he is stealing from you. Tom Jurasinski is an absolute coward of a man, and I feel bad for his parents knowing they raised a little weasel like him.  John L.

          • L
            Camper-submitted photo from Harnischfeger County Park
            Nov. 18, 2023

            Harnischfeger County Park

            A hidden gem

            We booked a week here in 2022 and ended up staying for two summers as camp hosts. The park is quiet, family orientated, and the park caretaker John is a national treasure. He’s been with the park since before it was county owned and knows every nook and cranny, critter and creature, and appreciates each and every guest who comes to the park. His one rule is to enjoy the park and let the staff know if you have any ideas to help to “keep it fresh”. Sites with letters are tent sites without water or electric, sites with numbers have water and 30 amp service, though there are plans to upgrade the sites to all have water and 50 amp service in the future. The last weekend of September is FallFest and often books a year in advance.



          Guide to Lake Mills

          Camping near Lake Mills, Wisconsin, offers a mix of beautiful scenery and outdoor activities. Whether you're looking for a family-friendly spot or a quiet getaway, there are plenty of campgrounds to choose from.

          What to do:

          • Hiking and Trails: Explore the many trails in the area. Campers have enjoyed the scenic views, especially during the fall. One reviewer mentioned, "There are plenty of scenic photo opportunities especially during the fall season" at Rock Cut State Park Campground.
          • Fishing and Swimming: Enjoy fishing or swimming at nearby lakes. A camper at Quartzite Campground — Devils Lake State Park said, "The best beach around, crystal clear, shallow water was perfect for our young kids to play in."
          • Wildlife Watching: Keep an eye out for local wildlife. One visitor noted, "You’ve hit the wild animal jackpot with easy viewing of white-tailed deer, red foxes, and raccoons" at Rock Cut State Park Campground.

          What campers like:

          • Clean Facilities: Campers appreciate well-maintained restrooms and showers. A reviewer at Ice Age Campground — Devils Lake State Park mentioned, "Bathrooms could use more upkeep. Lots are on the smaller side. - WORTH THE HIKE!!"
          • Spacious Sites: Many campgrounds offer roomy sites. One camper at Mauthe Lake Campground — Kettle Moraine State Forest said, "Awesome views and tons of sites to pick from."
          • Family-Friendly Atmosphere: Campgrounds like Wisconsin Dells KOA are great for families, with activities for kids. A visitor shared, "Nightly and daily planned activities. Again, great for the kiddos."

          What you should know:

          Tips for camping with families:

          • Choose Family-Friendly Campgrounds: Look for places with playgrounds and activities for kids. Campers at Wisconsin Dells KOA enjoyed the "playground and a pool."
          • Plan for Meals: Bring easy-to-cook meals or check for nearby dining options. One camper at Quartzite Campground — Devils Lake State Park suggested, "If you are on the prowl to see some of the most amazing animals... keep your domesticated pets on a leash."
          • Pack for Comfort: Bring extra blankets and pillows for a cozy stay. A visitor at Rock Cut State Park Campground mentioned, "We had to rent a motel for the night because we couldn't even pull out the slide or anything."

          Tips from RVers:

          • Check Site Sizes: Make sure your RV fits the site before booking. A camper at Wisconsin Dells KOA said, "Tight spots and narrow roads but convenient location."
          • Look for Electric Hookups: Many campgrounds offer electric hookups, which can be a lifesaver. A reviewer at Ice Age Campground — Devils Lake State Park noted, "There is a camp store for wood, ice, and other things that makes it very convenient."
          • Plan for Dump Stations: Know where the nearest dump station is located. A visitor at Mauthe Lake Campground — Kettle Moraine State Forest mentioned, "There is a shower house but we made use of the more convenient vault toilets."

          Camping near Lake Mills, Wisconsin, has something for everyone, whether you're in a tent or an RV. Enjoy the great outdoors!

          Frequently Asked Questions

          • Which is the most popular tent campsite near Lake Mills, WI?

            According to TheDyrt.com, the most popular tent campground near Lake Mills, WI is Snug Harbor Inn Campground on Turtle Lake with a 4.8-star rating from 6 reviews.

          • What is the best site to find tent camping near Lake Mills, WI?

            TheDyrt.com has all 10 tent camping locations near Lake Mills, WI, with real photos and reviews from campers.